Method and system for planning a path of a vehicle

ABSTRACT

A second data processor determines candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the one or more candidate passes are associated with the defined plant rows consistent with a planned guidance path. From the present position and heading of the second vehicle, a user interface or display displays the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize any yield loss associated with unharvested/untreated passes or zones within the work area or field. The user interface or display supports selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field.

FIELD

This disclosure relates to a method and system for planning a path of avehicle.

BACKGROUND

In certain background art, vehicles determine path plans for covering anarea of a field or work area. However, the determined path plans may notprovide the operator with the flexibility to adjust the path plan duringoperation in the field to accommodate remnant areas of the field thathave not been processed by the vehicle or equipment. Therefore, there isa need for an improved method and system for planning a path of avehicle that supports the operator's ability to select dynamicallycandidate passes within a path plan of the vehicle.

SUMMARY

In accordance with one embodiment, a method and system of planning apath of a vehicle comprises defining or obtaining an outer boundary of awork area or a field. A second data processor of a second vehicleobtains an implement path plan of an implement associated with a firstdata processor of a first vehicle. The implement path plan comprises aseries of recorded position points along a recorded guidance path of animplement and a set of plant rows defined with reference to the recordedguidance path in the work area or the field. A location-determiningreceiver determines a present position and present heading of a secondvehicle in the work area or the field. A second data processordetermines candidate passes of the second vehicle in alignment with thedefined plant rows to provide area coverage of the work area or fieldwithin the defined boundary based on an implement width or swath of thesecond vehicle and row spacing of the second vehicle, wherein the one ormore candidate passes are associated with the defined plant rowsconsistent with a planned guidance path. From the present position andheading of the second vehicle, a user interface or display displays thedetermined candidate passes to minimize overlap of adjacent candidatepasses of the second vehicle and to minimize any yield loss associatedwith unharvested/untreated passes or zones within the work area orfield. The user interface or display supports selection of one of thedisplayed or presented candidate passes as the planned guidance path ofthe second vehicle consistent with the provision of area coverage of thework area or field.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a first embodiment of a flow chart of a method for planning apath of a vehicle.

FIG. 1B is a second embodiment of a flow chart of a method for planninga path of a vehicle.

FIG. 1C is a third embodiment of a flow chart of a method for planning apath of a vehicle.

FIG. 1D is a fourth embodiment of a flow chart of a method for planninga path of a vehicle.

FIG. 1E is a fifth embodiment of a flow chart of a method for planning apath of a vehicle.

FIG. 2A is one embodiment of a block diagram of a system for planning orexecuting a path of a vehicle.

FIG. 2B is another embodiment of a block diagram of a system forplanning or executing a path of a vehicle.

FIG. 3 is an illustrative embodiment of a possible screen appearing on adisplay or user interface associated with selection of candidate passes.

FIG. 4 is another illustrative embodiment of a possible screen appearingon a display or user interface associated with selection of candidatepasses.

FIG. 5 is an illustrative embodiment of an audible communication of anoperator via the user interface associated with the selection ofcandidate passes.

FIG. 6 is another illustrative embodiment of an audible communication ofan operator via the user interface associated with the selection ofcandidate passes.

FIG. 7 is a flow chart of a method for audible communication of anoperator with the user interface.

FIG. 8 is a flow chart of a method for entry of commands of an operatorassociated with a user interface.

DETAILED DESCRIPTION

In one embodiment, the method and system (e.g., 2000 in FIG. 2A or 11 inFIG. 2B) for path planning a path of a vehicle relates to acomputer-implemented method and system in which one or more dataprocessors process, store, retrieve, and otherwise manipulate data incommunication with one or more data storage devices and networks, asdescribed in this document and the accompanying drawings. As used inthis document, “configured to, adapted to, or arranged to” mean that anydata processor is programmed with suitable software instructions,software modules, executable code, data libraries, and/or requisite datato execute any referenced functions, mathematical operations, logicaloperations, calculations, determinations, processes, methods,algorithms, subroutines, or programs that are associated with one ormore blocks set forth in any drawing in this document. Alternately,separately from or cumulatively with the above definition, “configuredto, adapted to, or arranged to” means that any vehicle electronics orany data processing system (e.g., 11 or 2000) comprises one or morecomponents described herein as software modules, equivalent electronichardware modules, or both to execute any referenced functions,mathematical operations, calculations, determinations, processes,methods, algorithms, subroutine.

In any of the above referenced drawings of this document, any arrow orline that connects any blocks, components, modules, memory, datastorage, data processors, electronic components, or other electronic orsoftware modules may comprise one or more of the following items: aphysical path of electrical signals, a physical path of anelectromagnetic signal, a logical path for data, one or more data buses,a circuit board trace, a transmission line; a link, call, communication,or data message between software modules, programs, data, or components;or transmission or reception of data messages, software instructions,modules, subroutines or components.

FIG. 1A is a first embodiment of a flow chart of a method for planning apath of a vehicle. The method if FIG. 1A begins in step 1100.

In one embodiment prior to executing step 1100, the first vehicle isassociated with a first data processor 22 or first data processingsystem 20 with first wireless communications device 32 that communicatesreference planting information, row position, and/or as-plantedplant/seed positions (e.g., coordinates), to a central server 40associated with a data storage device 44. The first vehicle, itsimplement or both may be associated with a first location-determiningreceiver 30 (e.g., Global Navigation Satellite System (GNSS) receiver)for providing actual implement path or path plan followed or tracked bythe implement, the first vehicle, or both. Once the actual implementpath plan is known, the row position, as-planted plant/seed position,and/or as-planted row information for the crop can be determined orderived from the swath width and row-spacing of the implement or thevehicle. Accordingly, the central server 40, or data processor 42, maystore (e.g., in a data storage device 44 or database 46) plantinginformation, an implement path plan, seed or plant position (e.g.,coordinates), and/or plant rows defined with reference to the implementpath plan, an as-planted map of plant rows, aerial imagery fromsatellite, aircraft, blimps, or drones, or other reference plantinginformation that can be retrieved, accessed or recalled by the seconddata processor 54.

In step 1100, a data processor (e.g., second data processor 54 orprocessor 2100) or data processing system (e.g., second data processingsystem 52), which is associated with the second vehicle, recalls orobtains (e.g., accesses or retrieves) first operation pass data from adatabase (e.g., 46 or 2200). In some configurations, the first operationpass data or the database 46 may be stored in a data storage device 44associated with a central server 40 (remote from the second vehicle) andaccessed via wireless communications link (between a second wirelesscommunications device 64 and a wireless communications network 36). Inother configurations, the database 46 or first operation data may bestored within a first data storage device 24 of a first data processingsystem 20 of a first vehicle and accessed, via a wireless communicationslink or channel between the first wireless communications device 32 andthe second wireless communications device 64, by the second dataprocessing system 52 of the second vehicle. For example, in step 1100,the data processor (e.g., second data processor 54) recalls or obtainsfirst pass operation data or other work data from a database (e.g.,database 46 or database 2200).

Any database (e.g., 46, 2200) mentioned in this description may belocated on a machine, at a remote location, or widely distributed. Thefirst pass operation data or other work data may comprise row cropplanting information: (a) recorded by planter implement (e.g., planter,planter row unit, seeding machine), or first vehicle associated with aplanter implement, that is equipped with a first location-determiningreceiver 30 (or GNSS receiver 2160), or (b) obtained from an aerialimage of emerged crop of first operation pass data 2210, an imagingdevice or camera coupled to the data ports 26 of the first dataprocessing system 20 of the first vehicle, or obtained by other methods.

The row spacing/dimensions, number of rows in a field, or the width ofthe field, work area or worksite actively in-use can be stored in thedatabase (46 or 2200) or data processing system (11 or 2000) for laterreference. Further, the swath width of the vehicle (e.g., first vehicle,second vehicle, or both), its implement width, a ground contact patternof the wheel/tire/tread of the vehicle, and wheelbase dimensions orspatial separation between ground contact zones of the wheel/tire/treadof the vehicle can be stored in the data base (46 or 2200) or dataprocessing system (11 or 2000) for later reference. For example, thefirst vehicle and the second vehicle may have implements or may have:(a) different (fixed) vehicle width, swath width, implement width, orpass coverage and (b) different (fixed) ground contact pattern of thewheel/tire/tread wheelbase dimensions or spatial separation betweenground contact zones of the wheel/tire/tread. Accordingly, the seconddata processing system 52 can adjust, reconcile or configure its plannedpath: (1) to align adjacent/adjoining vehicle/implement passes of thesecond vehicle or second implement with respect to the first vehicle orthe first implement, which is previously recorded by the first dataprocessing system 20, (2) to align ground contact zones of thewheel/tire/tread of the second vehicle with respect to plant rows orempty spatial area between adjacent plant rows, (3) to avoid damage fromground contact pattern of the wheel/tire/tread of the second vehicle orits implement (if any) to the plants, plant rows, or seeded ground, and(4) to control the degree or absence of overlap betweenadjacent/adjoining vehicle/implement passes based on: (a) differentvehicle width, swath width, implement width, or pass coverage and (b)different ground contact pattern of the wheel/tire/tread wheelbasedimensions or spatial separation between ground contact zones of thewheel/tire/tread for the first vehicle, the second vehicle and/or its ortheir implements.

As used herein, the term field may imply a farm or agricultural workarea or work site, whereas a work area or worksite may apply toconstruction, forestry and other areas in which vehicles, implements andequipment can be used in accordance with various embodiments of pathplanning method and system disclosed in this document. In otherexamples, other data may be read or retrieved such as the width of animplement (e.g., planter or another implement associated with the firstpass operation or first vehicle) or machine (e.g., first vehicle) makingan initial or baseline pass through the worksite or field.

In step 1200, a data processor (e.g., second data processor 54, seconddata processing system 52, or processor 2100) defines second pass databased on first operation pass data (e.g., of a first vehicle or itsimplement) and second operation work or work task (e.g., of a secondvehicle). In step 1200, candidate passes for the second operation aredefined, using the first operation pass data or other work data obtainedor recalled in step 1100 and vehicle information (e.g., about themachine(s) (e.g., second vehicle(s)) being used in the second operationpass data 2110.

In one embodiment, the second vehicle may comprise a sprayer, nutrientapplicator, cultivator, harvester or combine, for example. The secondoperation work or work task may comprise spraying chemical or cropinputs, applying nutrients, cultivating soil, and/or harvesting crops.The implement associated with the first vehicle and the second vehiclemay have different row widths, different swath widths, and differentwheel or track separations that require consideration in preserving cropor plants and avoiding damage to the crops or plants during spraying orcultivation. In one non-limiting example, under the first operation passdata a field may have been planted using an N-row planter (e.g., where Nis any whole positive number equal to or greater than one, and where theplanter is a towed implement of the first vehicle). For instance, if Nequals eight, the implement comprises an eight-row planter.

Under a second operation pass data, later operations may include any ofthe following work tasks associated with a second vehicle: (a) nutrientapplication (e.g., side-dress fertilizer application) of up to M plantrows (e.g., where M is any whole positive number, such as eight) for apass or swath of the second vehicle, (b) spraying of up to P rows (e.g.,where P is any whole positive number, such as 24), and (c) harvest of upto Q rows (e.g., where Q is any whole positive number, such as sixteen),where row units can be activated, deactivated and/or adjusteddynamically, separately or jointly as any vehicle or its implementtravels through the field or work area. In any example set forth in thedrawings, the first vehicle and the second vehicle may be configured asa same base vehicle with interchangeable, removable implements toaccomplish different tasks, such as planting, cultivating, fertilizing,spraying and harvesting.

In step 1300, the data processor (e.g., second data processor 54, seconddata processing system 52, or data processor 2100) determines whether ornot a pass transition is detected. If the pass transition is detected,the method continues with step 1400. However, if the pass transition isnot detected, in step 1301 the method waits for an interval or samplingperiod and thereafter seeks to detect a new pass transition by againexecuting step 1300.

In the second data processing system 52, the data processor (e.g.,second data processor 54 or data processor 2100) operates in conjunctionwith a location-determining receiver (e.g., second location-determiningreceiver 62 or GNSS receiver 2160) to detect the pass transition. Forexample, once the location-determining receiver (e.g., secondlocation-determining receiver 62 or GNSS receiver 2160) recognizes thatthe second vehicle has entered into a turn or is approaching an end of arow or an edge of a field, a waterway, obstruction or hazard, the dataprocessor (e.g., second data processor 54, second data processing system52 or data processor 2100) may detect a pass transition.

In alternate embodiments, step 1300 may use a location-determiningreceiver (e.g., GNSS receiver 2160), a dead-reckoning sensor 2170, anodometer, stereo vision sensor, imaging system with landmark/symbolrecognition, or another location sensor. Current machine location 2130,current machine orientation 2140 (e.g., heading, yaw angle, tilt angleand/or roll angle) are known from a location-determining receiver (e.g.,GNSS receiver 2160); an inertial measurement unit, dead reckoning sensor2170 (e.g., odometer, electronic compass, steering angle sensor, andheader up sensor); or any other suitable devices for position detection,attitude detection or pose detection.

Step 1300 can detect or identify pass transitions in accordance withvarious examples, which can be applied separately or cumulatively. Inthe context of harvesting crop, field headlands of a field or work areaare typically harvested first to enable movement of machinery (e.g., acombine or harvester) on the field or work area. For instance, thesecond vehicle or harvester completes a pass, enters the headland, andmoves to the next pass. Headlands may be defined by a human operator ormanager on the worksite map or automatically identified by softwareusing features like direction of operation (e.g., planting), and priorcutting of standing crop or clearing of vegetation (e.g., harvest).

In a first example, the second data processor 54, second data processingsystem 52, or electronic data processor 2100 of the second vehicle, inconjunction with a second location-determining receiver 62 (or GNSSreceiver 2160), an accelerometer, an inertial measurement unit (IMU), oranother position, motion or attitude sensor, detects a pass transition(e.g., by change in angular heading or yaw) when the second vehicle(e.g., harvester or combine) exits a pass or row at an end of the row,edge of the field or headlands, where a pass transition is likely, suchas the headlands. For instance, the second location-determining receiver62 or second data processor 54 may establish a geo-fenced region,boundary, or set of boundary coordinates that define the position orzone of an end of the row, edge of the field or headlands.

In a second example, the second data processor 54 or second dataprocessing system 52, of the second vehicle, in conjunction with asecond location-determining receiver (e.g., 62 or 2160), anaccelerometer, an inertial measurement unit (IMU), or another position,motion or attitude sensor, detects a pass transition when the secondvehicle (e.g., harvester) crosses or exits a pass or row at an end ofthe row, edge of the field or headlands with reference to firstoperation pass data from harvested area 2122 and second operation passdata of candidate passes 2124 in which there is a discontinuity ortransition between the first pass and a next pass (e.g., one or moreprobable candidate passes, possible candidate passes, or favorablyranked candidate passes) of the second vehicle (e.g., harvester orcombine). For instance, the location-determining receiver (e.g., 62 or2160) or data processor (e.g., 54 or 2100) may establish a geo-fencedregion, boundary, or set of boundary coordinates that define theposition or zone of an end of the row, edge of the field or headlands,such that if the second vehicle leaves or exits the geo-fenced region,boundary, or set of boundary coordinates, the data processor (e.g., 54or 2100) detects a transition.

In a third example, the data processor (e.g., second data processingsystem 52 or data processor 2100), in conjunction with alocation-determining receiver (e.g., 62 or 2160), an accelerometer, aninertial measurement unit (IMU), or another position, motion or attitudesensor, detects a pass transition when the harvester enters a planted,but unharvested, area (e.g., versus an unplanted area such as awaterway). For instance, the location-determining receiver (e.g., 62 or2160) or data processor (e.g., 54 or 2100) may establish a geo-fencedregion, boundary, or set of boundary coordinates that define theplanted, but unharvested area, such that if the second vehicle leaves orexits the geo-fenced region, boundary, or set of boundary coordinates,the data processor (e.g., 54 or 2100) detects a transition.

In a fourth example, the data processor (e.g., second data processingsystem 52 or data processing system 2000), detects a transition based onsensor data from dead reckoning sensors 2170, or a location-determiningreceiver (e.g., GNSS receiver 2160), or both indicating that theharvester is turning, such as an orthogonal turn, a key-hole turn, anend-row turn, a row-skipping turn, or another turn in an unharvestedarea.

In a fifth example, the data processor (e.g., second data processor 54or data processor 2100) detects a pass transition based on softwareinstructions and available sensor data accessible via a vehicle data busof the second vehicle, which may include sensors on the implement or thevehicle that are specifically tailored to the worksite and worksiteoperation. For instance, the vehicle (e.g., second vehicle dataelectronics or second vehicle data processing system 52) or implementmay comprise position data sensors or height data sensors that candetect a height or height state (e.g., lowered state or raised state) ofimplements or tools (e.g., harvest head, row unit, tillage unit,implement, or the like). Similarly, the vehicle or implement may includedata sensors that provide status messages or the state (e.g., active,deactivated, enabled, disabled) of one or more actuators (e.g., planterdrive, sprayer nozzle or sets of sprayer nozzles). The above positionsensors, height data sensors, or data sensors may be used alone or inconjunction with the position data, heading data, motion data (velocityand acceleration) and attitude data associated with the second vehicle,or its implement.

In step 1400, the data processor (e.g., second data processor 54, seconddata processing system 52, or data processor 2100) displays, outputs orcommunicates at least one second candidate operation pass relative withthe current location of the second vehicle associated with the secondpass, where the second operation pass is associated with performing thesecond operation work or second operation path. For example, the seconddata processor 54, the second data processing system 52, or dataprocessor 2100 may provide the second candidate operation pass by adisplay 2310 of a user interface (e.g., 60 or 2300), an audio outputdevice 2320 of a user interface (e.g., 60 or 2300), a wearable displaythat communicates wirelessly or directly (via a transmission line,cables or wires) with the user interface (e.g., 60 or 2300) or seconddata processing system 52, or haptic output device 2330 associated withthe steering system 2335 (e.g., steering wheel, steering shaft,electrical motor-assisted steering and hydraulic motor-assistedsteering), the seat, or user controls that communicate with the seconddata processing system 52 or data processor 2100.

Step 1400 is executed once a pass transition has been detected in step1300. Information about candidate passes 2124 (or next passes) ispresented to a person such as a machine operator or a remote machineoperator (e.g., overseer) who is able to select (or reject) candidatepasses.

In step 1500 for guidance of the second vehicle, the machine operator orremote operator (e.g., machine overseer who monitors or operates themachine through wireless communications) can actively select apreferential pass from a library or set of candidate passes, as thesecond vehicle progresses through a field or a work site to perform atask, such as coverage of an entire field or field zone with spray orcrop inputs, or harvesting of an entire field or field zone.

In one embodiment, in step 1500 the operator's acceptance or rejectionmay be passive, where a default acceptance or rejection is taken by thesecond vehicle in the absence of any human intervention, or in theabsence of any human selection, command or input during a time windowauthorized for human intervention). In contrast to passive acceptance orrejection in step 1500, the operator may accept an active guidancecommand comprising one or more of the following: (a) a gesture of anoperator via visual input device 2315 or the user interface (60 or2300), (b) a spoken word of an operator via audio input device 2325 ofthe user interface (60 or 2300), alone or together with speechrecognition module 2327, (c) a screen input (e.g., contact, tap, swipe)by an operator via touch screen module 2312 of the user interface (60 or2300), and/or (d) turning or directing (e.g., via steering system 2335)a vehicle (e.g., second vehicle) towards a candidate pass start point,or any other suitable user interface (e.g., 60 or 2300). In oneembodiment, the touch screen module 2312 comprises a capacitive,resistive or piezoelectric sensing structure integrated with a display,such as a liquid crystal display or light emitting diode display of theuser interface (23, 60, 2300). An audio input device 2325 may compriseone or more of the following: one or more transducers, one or moremicrophones, one or more audio amplifiers, one or more analog-to-digitalconverters, one or more digital filters, an encoder, vocoder, digitalprocessing unit or electronic data processor, speech recognition module2327, software instructions for filtering speech, processing speech,encoding speech and/or decoding speech. An audio output device 2320 maycomprise one or more of the following: one or more transducers, one ormore speakers, one or more audio amplifiers, one or moreanalog-to-digital converters, one or more digital filters, a decoder,vocoder, digital processing unit or electronic data processor, speechrecognition module 2327, software instructions for filtering speech,processing speech, encoding speech and/or decoding speech.

In step 1500, the data processor (e.g., second data processor 54 or thedata processor 2100) guides the vehicle or its implement (e.g., secondvehicle) in accordance with the second candidate operation pass selected(e.g., actively or passively) by the operator via the user interface(e.g., 60 via the second data processing system 52 or user interface2300).

Step 1500 can be executed in accordance with various examples that maybe executed separately or cumulatively. Under a first example, if thesecond vehicle is manned or guided by a human operator, manual passselection may be done with techniques such as directions or graphics ona dedicated display (e.g., of user interface 60 or a display 2310 ofuser interface 2300. The display may comprise a light-emitting diodematrix, a liquid crystal display, a video display, a lightbar, or atarget guidance image that is displayed on a display 2310 of the userinterface (e.g., 28, 60, 2300). The selection of the next pass orpreferential pass from candidate passes can be augmented or supplementedby one or more of the following: (a) visual data (e.g.,three-dimensional images, differential stereo images, ortagging/identification of candidate passes or scene items), such asvisual display 3000; (b) a wearable display (e.g., glasses, goggles,visor, or three-dimensional or stereo vision visor), with or withoutscene augmentation (e.g., Google Glass); (c) audio instructions viaoperator or user communication via audio output device 2320 and/or audioinput device 2325 of the user interface 2300 (e.g., voice, stereo,frequency, or amplitude modulated tones/output), (d) haptic instructionsvia haptic output device 2330 (e.g., right and left vibration, shifting,or other operator movement of the operator seat, steering wheelresistance/vibration/shaking), or any suitable device or method ofinforming the operator to select a preferential pass, to engage ororient heading and position for guidance, or the start of the selectednext pass or preferential pass from the candidate passes.

Under a second example, once a next pass or preferential pass has beenselected (from the candidate passes) by an operator or the second dataprocessing system 52, the second vehicle is guided to the start of thenext pass or preferential pass. In one embodiment, the second dataprocessing system 52 or data processor 2100 has software instructionsthat not only move or direct the second vehicle to the start of the nextpass or preferential pass, but also orient, register and/or aligncorrectly the heading (e.g., yaw angle) or attitude of the secondvehicle and/or its implement with the next pass and any work objectssuch as standing crop. The attitude may include the roll angle, tiltangle and yaw angle of the second vehicle, for instance.

Under a third example, the second data processing system 52 or dataprocessor 2100 determines a current location (e.g., geographiccoordinates) and current orientation (e.g., heading, yaw, pose orattitude) of the second vehicle and next location and next orientation(e.g., starting location and starting orientation) of the preferentialpass or next pass. For example, the second data processing system 52 (ordata processor 2100) comprises a path planner 2150 and an automatedvehicle guidance system 2400 to direct (e.g., to steer, guide, andcontrol movement) the work machine (e.g., second vehicle, its implement,or both) in accordance with one or more of the following: (1) thecurrent location (e.g., geographic coordinates) and current orientation(e.g., heading, pose or attitude) of the second vehicle and nextlocation (e.g., starting location or next geographic coordinates) andnext orientation (e.g., starting orientation or next heading) of thepreferential pass or next pass, and/or (2) a difference between thecurrent location (e.g., present geographic coordinates) and currentorientation (e.g., present heading, present pose or present attitude) ofthe second vehicle and next location (e.g., target or next location ornext geographic coordinates) and next orientation (e.g., target or nextorientation, pose, attitude or next heading) of the preferential pass ornext pass.

In practice in FIG. 1A, the above steps 1100, 1200, 1300, 1400 and 1500may form one iteration of a process that can be repeated as the secondvehicle progresses through a field or work area to repeatedly oriteratively select a pass transition from a library or set of possibletransitions to effectively cover or address a work task associated withone or more target zones of a field or work area, or an entire field orwork area.

In FIG. 1B the method for path planning a path begins in step S200. Instep S200, the outer boundary of a work area or a field is defined orobtained. The outer boundary of a work area or field may be defined orobtained by various techniques, which may be applied alternately orcumulatively. Under a first technique, the first data processing system20 or another data processing system may define or obtain an outerboundary of a work area, where the first vehicle is directed orcontrolled to conduct a survey in which a first location-determiningreceiver 30 (e.g., global navigation satellite system (GNSS) receiver)records coordinates (e.g., two or three-dimensional coordinates) as thefirst location-determining receiver 30 tracks or follows the boundary ofthe work area or field. Here, the first location-determining receiver 30or its antenna is typically positioned on the first vehicle, although inalternate configurations the first location-determining receiver 30 maybe positioned on an implement associated with or towed by the firstvehicle.

Under a second technique for executing step S200, the outer boundary ofa work area or field may be defined by remote-sensing, such as aerialimaging, satellite imaging, drone imaging, or by reference to publiclyaccessible field boundary data, such as county records, governmentalrecords or crop insurance records. The first data processing system 20may supplement or augment the above remotely sensed data (or publiclyaccessible field boundary data) with additional location data; a set ofcoordinates collected, along part or all of the boundary; location datacollected incidental to a survey, such as noted above under the firsttechnique. Further, the first data processing system 20 may use the setof coordinates collected along part or all of the boundary incidental toa survey to correct, adjust or true the remotely sensed data with anyposition offset (e.g., compensating adjustment to reduce position error)to reflect real world coordinates of points on or along the boundary(e.g., where boundaries have changed because changes in the paths ofstreams, creeks, rivers or waterways, or where effective boundaries havechanged from clearing of trees or adding of drain tile).

Under a third technique, the first vehicle is controlled such that itsimplement follows, tracks the boundary while the first vehicle drivesthe boundary of the work area or field to acquire coordinates or aseries of points that lie on the outer boundary. For example, the firstlocation-determining receiver 30 or its antenna may be positioned on theimplement, or towed implement rather than on the first vehicle.

Under fourth technique, the outer boundary may be defined by curves orlinear segments that interconnect the series of points that lie on theouter boundary. Under a fifth technique, the outer boundaries can beobtained by averaging or combining two or more of the following datasets or layers of data: survey coordinates of GNSS receiver, aerialcoordinates obtained from aerial imaging, distance measurements fromdead-reckoning sensors (e.g., odometry), and governmental/insurancecoordinates.

In step S201, a first data processing system 20, a first processor 22,and/or a first location-determining receiver 30 records or collects afirst path plan (e.g., an implement path plan) of the first vehicle orits implement, consistent with the outer boundary of the work area orfield. In one configuration, the first data processor 22 of the firstvehicle records, collects or obtains previously recorded first path plan(e.g., implement path plan) of an implement associated with a firstvehicle, while the first vehicle is or was performing a previous worktask in the field or work area. For example, the first data processor 22of a first vehicle records an implement path plan (e.g., a set oflocations, corresponding headings or corresponding attitudes, and groundspeed or velocity) or other work data (e.g., implement-related data suchas seed spacing, seed type, seed planting density or as-planted or rowposition data) in a first data storage device 24 onboard the firstvehicle, a data storage device 44 associated with a central server 40,or both. In another configuration, the implement path plan could be apre-established path plan, a preset user-definable path plan or an apriori path plan used to guide the first vehicle (or its implement)through the field or worksite, rather than in situ record of an actualpath taken by the first vehicle (or its implement). The central server40 is remote from a first location-determining receiver 30 and the firstdata processing system 20 is associated with a first wirelesscommunications device 32 or wireless communications link to facilitatewireless communications channel between the first data processing system20 and the central server 40.

In one embodiment, the first path plan or the implement path planrelates to an implement associated with a first vehicle. The implementpath plan comprises a series of recorded position points along arecorded guidance path of an implement and a set of plant rows definedwith reference to the recorded guidance path in the work area or thefield. In one configuration, the first path plan of the implement isdefined by actual passes in the work area or the field during a plantingoperation (e.g., recorded by the first location-determining receiver30); wherein the recorded position points comprise Global NavigationSatellite System (GNSS) coordinates (e.g., Precise Point Positioning(PPP) or Real-time Kinematic (RTK) coordinates within a same growingseason). One or more antennas associated with the firstlocation-determining receiver 30 may be mounted on the first vehicle,the implement, or both to provide position, attitude and/or motion dataassociated with the first vehicle, its implement, or both.

In some embodiments, the positions of the plant rows are established bylateral offsets or other position offsets with reference to the firstpath plan or implement path (e.g., of the first vehicle). For instance,the first data processing system 20, the second data processing system52, or both establish or estimate an implement width or swath width ofimplement and row spacing or the row spacing of the implement and thenumber of rows with reference to an actual recorded implement path(e.g., of the first vehicle and the second vehicle). The implement widthor swath width may differ with different implements that are used forplanting, spraying or harvesting, or other agricultural tasks, forexample.

In step S202, a second data processor 54 of a second vehicle obtains afirst path plan of an implement (e.g., an implement path plan)associated with, recorded by or collected by a first data processingsystem 20, a first processor 22, and/or a first location-determiningreceiver 30 of a first vehicle, or its implement, consistent with theouter boundary of the work area or field. For example, the second dataprocessor 54 may access, retrieve or obtain stored implement path plandata or other work data from any of the following: (a) a central server40, (b) a data storage device 44 associated with the central server 40,(c) a first data storage device 24 in the first data processing system20, or (d) a database 46.

In step S204, a second location-determining receiver 62 (e.g., or GNSSreceiver 2160) determines a present position and present attitude (e.g.,yaw or heading angle) of a second vehicle, or its implement, in the workarea or the field. For example, the second location-determining receiver62 determines (and records) a set of present positions and presentattitudes of the second vehicle, or its implement as the implementprogresses through the work area or field.

In step S206, a second data processor 54 or second data processingsystem 52 determines candidate passes of the second vehicle, and/or itsimplement, in alignment with the defined plant row or rows to providearea coverage of the work area or field within the defined boundarybased on an implement width or swath of the second vehicle and rowspacing of the second vehicle, wherein the one or more candidate passesare associated with the defined plant rows consistent with a plannedguidance path. In one embodiment, the respective positions of definedplant rows (e.g., as-planted data) can be communicated wirelessly fromthe central server 40 or from the first data processing system 20, wherethe positions of the plant rows, segments of plant rows or individualplants are defined by two or three dimensional coordinates or pointslying on or within plant rows, or an outer extent of the foliage of theplants.

In one configuration, the planned guidance path means an actual recordedguidance path of the first vehicle or its implement, which is recordedby the first data processing system 20 or the first location-determiningreceiver 30). In one example, the planned guidance path may be definedas set of points along the ground that lie on or intercept alongitudinal centerline (e.g., or a vertical plane extending through thelongitudinal centerline) of the second vehicle, or a reference point onthe second vehicle, or its implement. The planned guidance path may bedefined a series of points (e.g., GNSS two-dimensional or threedimensional coordinates), or by linear segments and curved segments thatinterconnect such points.

In step S206, the second data processing system or second data processorcan determine candidate passes of the second vehicle, or its implementin accordance with various techniques that may be applied alternately orcumulatively.

Under a first technique, the second data processing system 52 or thepath planner 2150, adjusts or processes the planned guidance path suchthat an implement or towed implement associated with the second vehicletracks the defined plant rows (e.g., communicated wirelessly from thecentral server 40 or from the first vehicle) to provide area coverage ofthe work area or field within the defined boundary based on an implementwidth or swath of the second implement and row spacing of the plant rows(e.g., recorded or entered plant row spacing).

Under a second technique, the second implement may have a differentswath width or implement width from the first implement, even if the rowspacing (e.g., row-to-row lateral width) of the first implement and thesecond implement are identical; therefor, the number of passes to cover,harvest, spray, treat a field may differ from the number of passes/rowsto plant the same field, along with any optional or potential allowancesfor overlap of passes/rows to assure complete and continuous coverage ofa zone, field or work area.

In step S208, from the present position and heading of the secondvehicle, a user interface 60, user interface 2300 or display 2310displays the determined candidate passes: (a) to meet a target overlap(e.g., target overlap metric), such as minimizing the overlap ofadjacent candidate passes of the second vehicle (or its implement), (b)to meet a target total number of passes of the second vehicle (or itsimplement) to cover the work area or field, (c) to minimize anyduplicative passes or unloading efficiency loss (e.g., fuel or energyloss) associated with duplicative or return trips to cover or harvestnext unharvested/untreated passes or zones within the work area orfield, and/or (d) to track a target path plan, to meet an errorreduction or efficiency target, or another preestablished objective. Forexample, the target overlap may be set to zero or a target lateraloffset or set to compensate for an average, median, or mode error inposition (e.g., lateral position) precision of the location-determiningreceiver (e.g., second location determining receiver 62, or theaggregate error contributions of the first location determining receiver30 and the second location determining receiver 62). The target overlapor target lateral offset maybe specified, measured or inputted in theuser interface (28, 60, 2300) in dimensions (e.g., meters) or percentageoverlap of an entire vehicle swath width or implement swath width. StepS208 is well suited for minimizing the total number of passes andenhancing efficiency (e.g. minimizing fuel and time) for a field, workarea or selected zone of field, by: (a) eliminating unnecessary,overlapping, duplicative or return row passes to clean up (or tocompletely harvest or fully process) the field or work area; (B)avoiding or reducing the need to interrupt harvesting to unload ortransfer harvested agricultural material (e.g., harvested grain, oilseedor fiber) to a cart, truck or storage container part way through a passand then return to resume harvesting mid-pass (e.g., retrace vehiclepath or partially completed pass).

Step S208 may be carried out in accordance with various techniques,which may be applied separately or cumulatively. Under a firsttechnique, the user interface (28, 60), display 2310 or second dataprocessor 54 of the second data processing system 52 displays, outputsor presents (on a screen or visual display 3000 in FIG. 3) a library ora list or sequence of determined candidate passes with associatedcorresponding crop yields. The crop yields may be expressed for the passor on a yield per land unit (e.g., bushel per acre) basis for the pass.

In step S210, the user interface (60, 28) or display 2310 (e.g., with avisual display screen 3000 in FIG. 3) supports operator selection of oneof the displayed or presented candidate passes as the planned guidancepath (comprising the next pass or preferential pass) of the secondvehicle consistent with the provision of area coverage of the work areaor field. The user interface (60, 28) or display 2310 of the second dataprocessing system 52 supports selection of the next pass, preferentialpass, next row or next portion of the path plan from among a library,list or sequence of determined candidate passes by speech recognition ofa pass identifier spoken by a vehicle operator. For example, the userinterface (60, 28) of the second data processing system 52 can apply aspeech recognition module 2327 (e.g., software and audio input device2325) to the spoken commands of the vehicle operator to select a nextpass, preferential pass, next row or next portion of the path plan ofthe second vehicle from the library, list or sequence of determinedcandidate passes. Further, in response to the operator's spoken commandor entered command to the user interface (60, 28), the user interface(60, 28) of the second data processing system 52 can confirm theselection of the operator via machine speech of an audio output device2320 or a haptic output device 2330, which is associated with any of thefollowing: a steering system (e.g., 2335), a steering column, or a seatof the vehicle. Haptic output or feedback can comprise actuators thatvibrate, shake or move the steering system (e.g., 2335), steeringcolumn, or a seat of the vehicle. For example, the user interface (60,28), audio output device 2320, haptic output device 2330 can indicate toan operator any of the following feedback (e.g., operator-definedfeedback or factory setting feedback): a default selection of acandidate pass as a preferential pass, a vehicle operator has opted outa default selection of the candidate pass as the preferential pass, orthe operator has accepted a default selection of the candidate pass asthe preferential pass.

The method of FIG. 10 is similar to the method of FIG. 1B, except themethod of FIG. 10 further includes or comprises step S212. Likereference numbers indicate like steps, procedures or features in FIG. 1Band FIG. 10.

In step S212, the second data processor 54, second data processingsystem 52, or electronic data processor 2100 in conjunction with thelocation-determining receiver (e.g., first location-determining receiver30 or second location-determining receiver 62), identifies a transitionpoint, transition zone, transition range or transition path segment withreference to (e.g., aligned with) the present position (e.g., geographiccoordinates) and corresponding present heading, where the transitionpoint is suitable for selection of a next pass or preferential pass froma library of determined candidate passes. The present position andcorresponding present heading may align with the current or presentposition and corresponding attitude (e.g., heading or yaw angle) of thesecond vehicle or its implement. For example, at the transition point orwithin the transition zone, transition range or transition path segment,the second data processor 54 or the second data processing system 52aligns (promptly or timely) the second vehicle, or the its implement, toalign or track with a target path, predicted path, or proper path (e.g.,as planted map, recorded plant rows, seed positions or plant positions)between the plant rows to avoid damage to the foliage, leaves, stem orstalk, of the plants or seedlings.

Step S212 may be carried out in accordance with various configurations,which may be implemented separately or collectively. In one or moreconfigurations, the library of determined candidate passes refers to theremaining one or more candidate passes that are not yet processed by thesecond vehicle, or its implement, or traversed by the second vehicle, orits implement. For example, the library of determined candidate passescan refer to one or more of the following candidate passes: (1) for acultivator, the library includes uncultivated passes within a field, orwithin an uncultivated zone of the field, that have not been yetcultivated by the second vehicle as the cultivator; (2) for a sprayer,the library includes untreated or unsprayed passes, plant rows or plantregions/zones within the field, that have not yet been treated withchemicals, nutrients, pesticide, fertilizer, insecticide, herbicide, orother crop inputs by the second vehicle as the sprayer; (3) for anutrient applicator, the library includes untreated or unsprayed passes,plant rows or plant regions/zones that have not yet been treated withchemicals, nutrients, fertilizer, nitrogen, potassium, phosphorus, iron,manganese, copper, magnesium, calcium, trace minerals, or other cropinputs with the second vehicle as the nutrient applicator; (3) for aharvester or combine, the library includes standing crop, standing plantrows or crop regions/zones that have not yet been harvested or cut withthe second vehicle as the harvester or combine.

The method of FIG. 1D is similar to the method of FIG. 1B, except themethod of FIG. 1D further includes or comprises step S214. Likereference numbers indicate like steps, procedures or features in FIG. 1Band FIG. 1D.

In step S214, the user interface (60, 28) or display 2310 (e.g., viavisual display 3000 of FIG. 3) provides an efficiency indicator for eachcorresponding candidate pass based on a respective estimated yield ofthe unharvested zone (e.g., candidate unharvested pass or candidateunharvested remnant zone) within the field or work area. In oneembodiment, the unharvested zone may have an irregular shape that isless than or greater than the width of one pass or swath of the secondvehicle, or its implement. Ideally, the unharvested zone would beapproximately equal to the width of one pass or multiple adjacent passesof the second vehicle or its implement such that full implement width orcapacity of the second vehicle is used efficiently.

Step S214 may be carried out in accordance with various alternatetechniques, which may be applied separately or cumulatively. Under afirst technique, the user interface (60, 28) or display 2310 (e.g., viavisual display 3000 or screen) can provide an efficiency indicator(e.g., score, recommended sequence, or numerical rank) that isproportional to, derived from, or indicative of an estimated yield ofthe harvested zone less the unharvested zone that remains after thesecond vehicle or its implement traverses the harvested zone as anynumber of N passes equal to multiple of passes of the second vehicle, orits implement, where N is any positive whole number greater than zero.

Under a second technique, each candidate pass can be ranked with a scoreor numerical rank. Under a third technique, the user interface (60, 28)or display 2310 (e.g., via visual display 3000) presents the candidatepasses in order or sequence of ascending or descending score ornumerical rank. Under a fourth technique, the user interface (60, 28) ordisplay 2310 (e.g., via visual display 3000) provides an efficiencyindicator for the candidate passes based on the ratio or percentage ofestimated unharvested zone yield to estimated harvested yield for thefield or defined section of the field within the defined boundary, wherethe defined section is defined to be equal to or greater than the areaof the unharvested zone and inclusive of the area of the unharvestedzone.

The method of FIG. 1E is similar to the method of FIG. 1B, except themethod of FIG. 1E further includes or comprises step S216. Likereference numbers indicate like steps, procedures or features.

In step S216, the second vehicle data processing system 52, or a secondwireless communication device 64 coupled thereto, communicateswirelessly the candidate passes: (a) to be selected by one or morevehicle operators, or by second data processing systems 52; (b)available to other second vehicles that are working in the field, orwork area to coordinate area coverage, (c) that are actually selected asnext passes or preferential passes by one or more vehicle operators ofsecond vehicles, or second data processing systems 52. Accordingly,multiple vehicles (e.g., second vehicles) can service simultaneously thefield or work area according to a coordinated plan that considers theplanned guidance plan of each participating vehicle in conjunction withthe unprocessed, untreated or remaining zones within the field or workarea. In one configuration, if multiple second vehicles are available orworking in the field or a work area, one second wireless communicationsdevice 64 can communicate wirelessly to counterpart second wirelesscommunication devices 64 associated with multiple second vehiclesworking the field to coordinate, claim, unclaim, indicate completion, orindicate abandonment of any respective candidate passes in the field orwork area. For example, by group communications via second wirelesscommunication devices 64, a second vehicle can exercise a prior claim(or announce planned or actual processing of) to a next candidate passor available unclaimed candidate passes prior to the other secondvehicles without interference or collision from other vehicles workingthe field. For example, via its second wireless communication device 64,the second vehicle that is claiming any unavailable unclaimed candidatepass for the next candidate pass can wirelessly communicate a group callmessage to the group of second vehicles that is working the same fieldor same work area; such messages can be repeated by the claiming secondvehicle until any or all of the non-claiming vehicles within the groupprovide an appropriate acknowledgement or confirmation. In oneembodiment, the central server 40 and the wireless communicationsnetwork 36 can facilitate storing and forwarding of messages (ordeactivation within geofenced zones) for second vehicle data processingsystems 52 that have not provided an appropriate acknowledgement orconfirmation. In another embodiment, the central servicer 40 can providemanagement, coordination and clearinghouse activities to a group ofsecond vehicles via second wireless communication devices 64 and thewireless communications network 36 to assign claims to candidate vehiclepasses and to track completion of assigned claims of candidate vehiclepasses, for example.

FIG. 2A illustrates a block diagram of a data processing system 2000 forplanning a path or executing a path of a vehicle. Similarly, FIG. 2Billustrates a block diagram of a data processing system 11 for planninga path or executing a path of a vehicle. The data processing system 2000of FIG. 2A or the data processing system 11 of FIG. 2B can be applied toone or more vehicles, where each vehicle is equipped with a dataprocessing system (20, 52) that can communicate wirelessly with adatabase 46 or central server 40. As illustrated in FIG. 2B, thedatabase 46 is co-located or located onboard one or more vehicles.However, the database 46 may be remotely located from the one or morevehicles, where each vehicle is configured with a wireless communicationdevice for communicating with the database 46 in a communicationsnetwork 38, or a cloud service hosted on one or more servers.

In one embodiment, the data processing system 2000 of FIG. 2A or system11 of FIG. 2B comprises a user interface (28, 60, 2300), alocation-determining receiver (e.g., GNSS receiver), dead-reckoningsensors, a vehicle guidance system, and a database 46 coupled to a dataprocessor.

In one embodiment, the user interface (28, 60, 2300) comprises a visualdisplay 3000, alone or together with a touch screen module 2312 (ortouch sensor system) integrated into the display 2310. The userinterface (28, 60, 2300) may have a steering sensor, such as a steeringangle sensor, a steering torque sensor, or both. The steering anglesensor, the torque sensor, or both may comprise a magnet embedded in asteering shaft in conjunction with a magnetic field sensor that detectsmovement of the magnet if and when the steering shaft is rotated.

As illustrated in FIG. 2A and 2B, the user interface (28, 60, 2300) mayfurther comprise a visual input such as a digital imaging system, acamera, a thermal imaging system, an infrared imaging system, or anotheroptical sensor to sense or detect: (1) if the vehicle is manned orunmanned, (2) the state of alertness of the vehicle operator of thevehicle, (3) whether or not an implement is coupled to or associatedwith the vehicle, (4) whether or not an implement is raised, or loweredor engaging the ground, and (5) whether and if the operator is makinggestures that can be interpreted to provided input data to the userinterface (28, 60, 2300).

In one embodiment, the user interface (28, 60, 2300) may comprise amicrophone and speech processing system (e.g., speech recognition module2327) to support the input of operator commands or request forinformation from the data processor. For example, the speech processingsystem may comprise a speech recognition module 2327 for training andrecognizing words or input commands or requests for information.Further, the user interface (28, 60, 2300) comprises an audio outputdevice for providing feedback or information to the operator in responseto operator requests, or otherwise.

In one configuration, the user interface (28, 60, 2300) optionallyincludes a haptic output, such as seat or steering wheel with a linearmotor or motor that provides haptic feedback or vibration to an operatorafter the operator enters, is prompted to enter, or fails to entertimely an input into the user interface (28, 60, 2300), touch-screenequipped display, keypad, control, or switch inputs.

In one embodiment, the data processor has a data storage device forstoring data or software instructions in one or more modules. In thisdocument, modules may comprise software, electronic hardware, logiccircuits, or any of the foregoing items. Within the second dataprocessing system 52, a data storage device may store one or more of thefollowing data or reference information: second operation pass data,worksite map 2120, harvested area 2122, unharvested areas and candidatepasses, current machine location, current machine orientation, andplanned path. The data processor may further store or contain a pathplanner and a vehicle guidance system 2400. The data processor may beassociated with a communications interface or wireless communicationslink for communicating with a central server 40 or first data processingsystem 20 of a first vehicle to retrieve first operation pass data(e.g., from a database 46).

Accordingly, the system 2000 of FIG. 2A comprises a user interface (28,60, 2300) that supports user prompts/alerts, user acceptance, andautonomous control mode management of the vehicle path plan related toselection of a preferential pass from candidate passes 2124 via one ormore of the following modules or components within the user interface(28, 60, 2300): (1) visual display 3000, (2) touch screen display ordisplay configured with a touch screen module 2312, (3) visual inputmodule or gesture recognition and control module, (3) speech processingand speech recognition module 2327, (4) haptic output module. The seconddata processing system 52 or data processor uses the benefit of theprior path of the implement, the first vehicle or both collected duringthe performance of an earlier work task during a growing period (e.g.,season), the as-planted map of plants, or plant rows to establish aplanned present path or candidate passes 2124 of the second vehicleduring a later work task during the same growing period (e.g., season).The operator can man the cab or cockpit of the vehicle in a manualcontrol mode, or wireless operate the vehicle through telepresence andwireless control mode. Further in both the manual control mode andwireless control mode, the second data processing system 52 may enter anautonomous control mode or a supervised autonomous control mode wherethe operator can override or select, preselect or rank one or morepreferential passes from candidate passes 2124 or planned vehicle pathfrom a library or menu of proposed candidate passes 2124. The operatormay be provided with on-screen alerts on the visual display 3000, audioalarms, or haptic output (e.g., vibrating of the seat or steering wheel)to prompt the operator selection of one or more preferential passes fromcandidate passes 2124 during an authorized selection interval. After theauthorized selection interval passes, in the autonomous mode the seconddata processing system 52 may be configured to automatically select thenext pass or preferential pass or sequence of preferential passes fromthe library of candidate passes 2124.

However, in an alternate embodiment, in the absence of user input (e.g.,selection) in response to on-screen alerts on the visual display 3000,audio alarms, or haptic output, the second data processing system 52(e.g., in an autonomous mode) may stop movement of the second vehicleand wait for further commands or input from the operator, or mayturn-off the second vehicle.

FIG. 2B is another embodiment of a block diagram of a system 11 forplanning a path or executing a path of a vehicle.

The system 11 comprises first vehicle data processing system 20 or firstvehicle electronics 20 that can communicate via a wirelesscommunications network 36, and possibly via a communications network 38,to a central server 40. Similarly, the system 11 comprises a secondvehicle data processing system 52 or second vehicle electronics 52 thatcan communicate via the wireless communications network 36, and possiblyvia the communications network 38, to the central server 40.

However, in an alternate embodiment, the first vehicle data processingsystem 20 and the second vehicle data processing system 52 maycommunicate directly with each other via a wireless communicationssignal (e.g., IEEE 802.11 standard or similar for wireless local areanetwork), via a wireless communications channel, a satellitecommunications channel, or via the wireless communications network 36.

In another alternate embodiment, the first vehicle data processingsystem 20 and the first vehicle uses a first implement (e.g., planter)at a first time (e.g., earlier time) and a second implement (e.g.,sprayer) at a second time (e.g., later time) to perform differentagricultural tasks, such as a first work task (of planting crops orseeds) at a first time and a second work task (of treating or sprayingthe crops) at the second time. Accordingly, the first data storagedevice 24 within the first data processing system 11 stores data relatedto the performance of the first work task for later access whileperforming the second work task. During the first work task, thefirst-location determining receiver 30 may provide an as-planted map,seed positions, plant row locations, other plant position data, arecorded implement path or a recorded first vehicle path that isrecorded during the performance of a first work task (e.g., planting,seeding, seed drilling , alone or together with nutrient or crop inputapplication) in a field or work area for a growing period (e.g., growingseason), where the foregoing data is recalled, retrieved or accessedfrom the first data storage device 24 during the performance of secondwork task by the first vehicle with the second implement.

As illustrated in FIG. 2B, the first data processing system 20 comprisesa first data processor 22, a first data storage device 24, and dataports 26 that are coupled to a first data bus 34. A user interface (28,60, 2300), a first location-determining receiver 30 and first wirelesscommunications device are coupled to the data ports 26 or otherwiseconfigured to communicate with the first data processor 22, the firstdata storage device 24 or both.

As shown, the second data processing system 52 comprises a second dataprocessor 54, a second data storage device 56, and data ports 58 thatare coupled to a second data bus 66. A user interface (28, 60, 2300), asecond location-determining receiver 62 and second wirelesscommunications device are coupled to the data ports 58 or otherwiseconfigured to communicate with the second data processor 54, the seconddata storage device 56 or both.

In one configuration, the central server 40 comprises an electronic dataprocessor 42, a data storage device 44, and a data port 50 that arecoupled to a data bus 48. The data processor 42, the data storage device44 and the data port 50 are configured to communicate with each othervia the data bus 48. The data port 50 may comprise a transceiver, buffermemory, or both for communicating over the communications network 38,such as the internet, a public switched telephone network (PSTN), afiber optic network, or another telecommunications network.

The first data processor 22, the second data processor 54 or any otherdata processor may comprise one or more of the following: an electronicdata processor, a microprocessor, a microcontroller, an applicationspecific integrated circuit (ASIC), digital signal processor (DSP), aprogrammable logic device, an arithmetic logic unit, or anotherelectronic data processing device.

The first data storage device 24, the second data storage device 56, orany other data storage device may comprise electronic memory, registers,shift registers, volatile electronic memory, a magnetic storage device,an optical storage device, or any other device for storing data.

The first location-determining receiver 30, the secondlocation-determining receiver 62 and any other location-determiningreceiver may comprise a satellite receiver, such as a global navigationsatellite system (GNSS) receiver that is augmented by a wireless device(e.g., satellite receiver or cellular receiver) that can receive acorrection signal (e.g., differential correction signal).

In FIG. 2B, the user interface (28, 60, 2300) may comprise one or moreof the following: an electronic display, a liquid crystal display, atouch screen display, a keypad, a keyboard, a pointing device (e.g., anelectronic mouse), an audio interface, a speech recognition system,speech recognition module 2327, one or more switches, or the like forinputting or receiving data, alerts, diagnostics, messages or commands,and outputting or transmitting data, alerts, diagnostics, messages, orcommands.

In an alternate embodiment, the user interface (28, 60, 2300) of FIG. 2Bmay incorporate any modules, electronics, software instructions, logic,or components of the user interface (28, 60, 2300) illustrated in FIG.2A.

In accordance with one embodiment, a method and system 11 of planning apath of a vehicle comprises defining or obtaining an outer boundary of awork area or a field. A first data processor 22 of a first vehiclerecords (e.g., in a data storage device onboard the vehicle or at acentral server 40) and/or obtains (e.g., from a location-determiningreceiver) an implement path plan of an implement (e.g., first vehicle)associated with a first vehicle. For example, the first-locationdetermining receiver may provide an as-planted map, seed positions,plant row locations, other plant position data, a recorded implementpath or a recorded first vehicle path that is recorded during theperformance of a first work task (e.g., planting, seeding, seeddrilling, alone or together with nutrient or crop input application) ina field or work area for a growing period (e.g., growing season).

In one embodiment, the implement path plan comprises a series ofrecorded position points (e.g., GNSS two-dimensional orthree-dimensional coordinates) along a recorded guidance path of animplement and a set of plant rows defined with reference to the recordedguidance path in the work area or the field.

The second vehicle is equipped with a second location determiningreceiver that provides a path plan for a second vehicle (e.g., sprayer,nutrient applicator, harvester or combine) or its implement (e.g.,second implement) in the same field or work area and during the samegrowing period (e.g., growing season) as the first vehicle. Plantposition data means one or more of any of the following plant, seed orseedling related data: as-planted map, seed positions, plant rowlocations, other plant position data, a recorded implement path or arecorded first vehicle path that is recorded during the performance of afirst work task. The plant position data may be associated with a datacollection date and time, a growing season identifier, a first vehicleidentifier, a field or work area identifier or a geographic location. Asdescribed above, the first vehicle electronics or first data processingsystem 20 communicates, directly or indirectly, with the second vehicleelectronics, such that the second data processing system 52, retrievesor has access to the following plant position data that was collected bythe first data processing system 20, alone or in conjunction with thefirst location-determining receiver 30: as-planted map, seed positions,plant row locations, other plant position data, a recorded implementpath or a recorded first vehicle path that is recorded during theperformance of a first work task (e.g., planting, seeding, seed drilling, alone or together with nutrient or crop input application) in a fieldor work area for a growing period (e.g., growing season).

At the second vehicle during the performance of a second work task afterthe first work task for the same field, work area and growing period, alocation-determining receiver determines a present position and presentheading of a second vehicle in the work area or the field. A second dataprocessor 54 determines a set (e.g. library) of one or more candidatepasses 2124 of the second vehicle in alignment with the defined plantrows or other plant position data (e.g., communicated wirelessly fromthe central server 40 or from the first vehicle) to provide areacoverage of the work area or field within the defined boundary based onan implement width or swath of the second vehicle and row spacing of thesecond vehicle, wherein the one or more candidate passes 2124 areassociated with plant position data (e.g., the defined plant rows)consistent with a planned guidance path. From the present position andheading of the second vehicle, a user interface (28, 60, 2300) or visualdisplay 3000 displays the determined candidate passes 2124 to manage,adjust or minimize overlap or spacing (e.g., spatial separation orrow-skipping) of adjacent candidate passes 2124 (in or out of temporalsequence) of the second vehicle and to minimize any yield lossassociated with unharvested/untreated passes or zones within the workarea or field. Adjacent row passes may be out of temporal sequence ororder where the second vehicle uses row skipping, for example. The userinterface (28, 60, 2300) or visual display 3000 supports selection ofone of the displayed or presented candidate passes 2124 as preferentialpass or the planned guidance path of the second vehicle consistent withthe provision of area coverage of the work area or field.

In one embodiment, the first vehicle may comprise the first dataprocessing system 20 or first vehicle electronics 20; the second vehiclemay comprise the second data processing system 52 or the second vehicleelectronics 52. The first data processing system 20 may store one ormore of the following plant position data and work area data in thefirst data storage device 24: boundary data, such as boundarycoordinates, linear segments, or curves, implement path data, plant rowdata, planting data, as planted maps, implement swath width, implementrow spacing, or other data. Work area data may comprise boundary data,such as boundary coordinates, linear segments, or curves, implement pathdata, or vehicle path data.

The first data processing system 20 comprises a first wirelesscommunications device that can communicate the plant position dataand/or work data from the first data processor 22 or from the first datastorage device 24 to the wireless communications network 36 or to thesecond wireless communications device of the second data processingsystem 52 or second vehicle electronics 52 if the first wirelesscommunications device and the second wireless communications device arewithin the transmission and reception range associated with therespective electromagnetic signals. For example, the first wirelesscommunications device can support communications of plant position dataand/or work area data from the first vehicle to the central server 40,first, via the wireless communications network 36 and, second, via thecommunications network 38 (e.g., internet).

At the central server 40, the data port is configured for communicationthe communications network 38. The plant position data and/or work areadata can be communicated between the first vehicle and the secondvehicle via the central server 40. For example, the plant position dataand/or work area data communicated from the first vehicle dataprocessing system 20 (to the central server 40) can be received at thedata port, processed by the data processor and stored in the data busfor future reference or retrieval by an authorized operator of thesecond vehicle data electronics (e.g., second vehicle data processingsystem 52).

The second vehicle data processing system 52 can request, retrieve oraccess plant position data and/or work data that is stored in: (a) thedatabase 46, (b) the first data storage device 24, (c) the second datastorage device 56, and (d) data storage device 44 of the central server40, where the request and storage of the work data can be organized byfield location, field identifier, geographic region, growing period(e.g., growing season), date or other information. Accordingly, thesecond vehicle data processing system 52 can download, access orretrieve work data from previous work tasks or jobs within the samefield or work area for the growing period (e.g., growing season), dateor time of interest to coordinate, build upon or augment previous worktasks in a seamless manner with new or planned work task or with anefficient transition to complete an overall task such as full crop cyclemanagement from planting until harvesting, which comprises one or moreprevious task and one or more planned work tasks.

FIG. 3 shows an illustrative display screen or visual display 3000 on auser interface (28, 60, 2300) for the method and system 11. For example,FIG. 3 illustrates a visual display 3000 that can be used as part ofstep 1400 in FIG. 1A to display one or more textual, visual or graphicalrepresentations of candidate passes 2124 for selection or entry by anoperator or end user of the second vehicle.

As illustrated in FIG. 3, the screen or visual display 3000 is dividedinto three distinct areas or display regions: guidance lightbar 3200,whole field progress 3100, and upcoming pass area 3300.

On the upper portion of the visual display 3000, the guidance lightbar3200 has lights that assist an operator of the vehicle in steering alonga guidance path. In the example of FIG. 3, guidance light bar 3200displays the vehicle position, as indicated by an associated heading oryaw angle of the vehicle. Colored indicators, such as green visualindicators 3210, yellow visual indicators 3220, and red visualindicators 3230 on the screen are used by the operator to follow aplanned path.

For example, the guidance lightbar 3200 of the user interface (28, 60,2300) may have software instructions in the data processing system (11or 2000) to display, activate or deactivate visual indicators (3210,3220, 3230) as follows. If the operator is steering the heading of thevehicle in alignment with the target path, target guidance line ortarget contour, the center or green visual indicator 3210 (e.g., light,light-emitting diode (LED), virtual light or virtual LED) may beilluminated. However, if the vehicle deviates slightly to the left ofthe target path, one or more intermediate left visual indicators 3220(e.g., yellow lights, LEDs, virtual lights or virtual LEDs) areactivated. Similarly, if the vehicle deviates slightly to the right ofthe target path, one or more intermediate right visual indicators 3220(e.g., yellow lights, LEDs, virtual lights or virtual LEDs) areactivated. If the vehicle deviates severely to the left of the targetpath, one or more intermediate left visual indicators 3230 (e.g., redlights, LEDs, virtual lights or virtual LEDs) are activated. If thevehicle deviates severely to the right of the target path, one or moreintermediate right visual indicators 3230 (e.g., red lights, LEDs,virtual lights or virtual LEDs) are activated.

As illustrated on a left rectangular portion of the visual display 3000,the whole field progress area 3100 shows harvested areas 2122, such asharvested passes 3130, with a first cross-hatch pattern and headlands3120 with a second cross-hatch pattern indicative of a harvested state.Meanwhile, the unharvested areas are not cross-hatched or arecross-hatched with different cross-hatch pattern distinct from the firstcross-hatch pattern and/or the second cross-hatch pattern. The vehiclesymbol 3110 in the headlands 3120 may indicate a current position of thesecond vehicle (e.g., combine or harvester), where the second vehicle isprogressing through or performing a harvesting operation in theheadlands 3120. The whole field progress area shows pass numbers 3150,which include unharvested passes 3140 (labeled pass numbers 6 through11, inclusive) and harvested passes 3130 (labeled pass numbers 1-5,inclusive).

In other embodiments, harvested areas may be colored, shaded orpatterned to represent harvested yield level; whereas unharvested areasmay be without color or colored, shaded or patterned to indicate anunharvested or fallow state. In one embodiment, unharvested passes 3140may also have a distinctive pattern or color based on predicted yield,which can be based on historic yield and an observed yield for otherportions of the field harvested during a growing period (e.g., growingseason). In certain configurations, a set of passes within the wholefield progress area of the visual display 3000 are numbered 3158. Here,as illustrated in FIG. 3, the passes (e.g., harvested passes 3130,unharvested passes 3140, or both) are labeled consecutively from 1 to11, although any other pass identifiers, such as numeric or alphanumericdescriptions, icons or symbols could be used to indicate differentpasses or candidate passes 2124.

Turning to the candidate pass area or upcoming pass area 3300 on theright side of the visual display 3000 of FIG. 3, the candidate passes2124 are assigned corresponding pass identifiers (3310), such as passnumbers 3310 eight through eleven. In one embodiment, upcoming pass area3300 shows pass numbers 3310 and corresponding transition distance 3320(e.g., turn distance), which are distances of travel of the vehiclebefore turning or transitioning to enter or approach the candidate pass,where the second data processing system 52 updates the distance oftravel are on dynamic, regular basis. The passes shown in this view areall ahead of the second vehicle in its direction of travel. In otherexamples, the upcoming pass area may show the next N candidate passes2124 or next M candidate unharvested passes, where N and M are anypositive whole numbers or integers greater than zero.

In one embodiment, the visual display 3000 may be presented on a touchscreen display or display 2310 associated with touch screen module 2312.The operator may select the next pass or preferential pass or sequenceof passes by pressing or contacting the preferential pass or sequence ofpasses in a selected, pressed portion or contacted portion of upcomingpass area 3300 of the visual display 3000. Further, the touch screendisplay or touch screen module 2312 is configured such that if theoperator selects multiple candidate passes 2124 in a certain order, thepreferential pass or next passes will be executed by the second vehiclein the same certain order or sequence (e.g., until all of the nextpasses are executed). Accordingly, based on the information in upcomingpass area 3300 and whole field progress area 3100, the operator caninteract with the visual display 3000 or the user interface (28, 60,2300) to select or enter the next pass.

Other embodiments may use other ways of selecting a subset of alldisplayed candidate passes 2124 for tracking or execution by the secondvehicle.

In an alternate embodiment, user interface (28, 60, 2300) could displaypass-specific information in the whole field progress area 3100 and theupcoming pass area 3300 could be absent. Accordingly, the pass-specificinformation, such as some upcoming pass information (similar to theupcoming pass area 3300) could be displayed in the whole field progressarea 3100 in a larger typeface that utilizes the screen area formerly orpreviously allotted in the upcoming pass area.

FIG. 4 shows another example of a screen or visual display 4000 fordisplay on the user interface (28, 60, 2300) for the method and system11. For example, the visual display 4000 can be used as part of step1400 of FIG. 1A to display at least one candidate pass or a set ofcandidate passes 2124 as an option for operator selection. Asillustrated in FIG. 4, the majority of the screen or visual display 4000is used to display one or more of the following: (a) candidate passinformation, (b) candidate pass information in ranked order or proposedsequence of execution by the second vehicle, (b) completed passinformation. Other areas of the display 4000 comprise an implementrepresentation 4010 (e.g., header 4010 of harvester or combine as thesecond vehicle) and its position or alignment (e.g., header center 4020)and an artificial horizon 4030 representative of an end of the fieldwith trees 4032, clouds 4034, and sky 4036.

As illustrated in the example of FIG. 4, pass data (4600, 4700, 4800,and 4900) comprises the pass number, land area (e.g., acres, square feetor square meters) of unharvested land in the corresponding candidatepass, estimated yield (e.g., bushels of grain) of the unharvested cropin the corresponding candidate pass, and estimated time to harvest thecrop in the corresponding candidate pass based on average or historicharvesting speed. The data processing system 11 or second dataprocessing system 52 can determine or estimate a land area ofunharvested crop based on the estimated location of the candidate passand which portions or candidate passes 2124 have already been harvested.The data processing system 11 or second data processing system 52 canestimate the yield of the unharvested crop from a crop model, similarityto other harvested areas in the field, historic harvest data from thefield, rows, area or portion of the field in one or more previous years,pre-harvest aerial images, or any other suitable means.

In one embodiment, the data processing system 11 or second dataprocessing system 54 may estimate the time to complete harvest via thecandidate pass based on the crop area, estimated crop yield, and a modelof how fast the combine can move through the crop given the estimatedyield. In an alternate embodiment, the data processing system 11 may usemodels, empirical measurements, historic crop processing times (e.g.,for a corresponding field, county, township, province, canton, countryor other region), or other approaches to estimate the time.

In some embodiments, the operator could tap or touch the user interface(28, 60, 2300) or touch screen module 2312 of the user interface ordisplay to select the next pass from the set or library of candidatepasses 2124 displayed on the user interface. After the operator selectsa preferential pass from the candidate passes 2124, the data processingsystem 11, second data processing system 54, or the path planner 2150 isadapted to generate a path plan or planned path 2152 for use by anautomated vehicle guidance system 2400.

In examples involving seeding and chemical application, the dataprocessing system 11 or system 2000 may receive input via the userinterface (28, 60, 2300) to associate the candidate pass with respectivepass data including without limitation: an area of the respectivecandidate pass, seed or chemical required for the respective candidatepass, whether or not the candidate or preferential pass can be completedwith the remaining amount of seed or chemical (to avoid refilling andreturning to a place mid-pass to resume), time to make pass, or anyother suitable information.

In examples involving ground engagement of ground engaging toolsassociated with the vehicle or its implement, the data processing system11 or system 2000 may receive input via the user interface (28, 60,2300) to associate the pass data with an area of respective candidatepass, estimated time to complete respective candidate pass, fuel to makea respective candidate pass or ability to complete pass with existingfuel, probability of getting stuck, amount of soil or soil cover beingmoved, or any other suitable information.

In another embodiment, which is illustrated in FIG. 5, upcoming pass orcandidate pass data may be made available through an audio interface(e.g., audio input, audio output or both) with speech recognition module2327 to address ergonomics and human factors of the user interface (28,60) such as to eliminate small type, lines, or icons, or to provide aninterface for visually impaired operators, or where glare or directsunlight prevents legible viewing of a display, or otherwise.

FIG. 5 shows another example where upcoming pass area 3300 of FIG. 3 isabsent from a visual display 3000 or whether the visual display 3000 ofthe user interface (28, 60, 2300) is not present or inactive. Here inFIG. 5, the processing system 11 or electronic data processor 2100 canuse audio output device 2320 and audio input device 2325 of the userinterface (28, 60, 2300) to communicate or interact with an operator oruser of the first vehicle, second vehicle or both. In one embodiment,the user interface (28, 60, 2300) or audio input device 2325 may beresponsive to, awoken by, or activated by an operator command (e.g.,spoken or verbal operator command), wake command or wake word that isrecognized by the audio input device 2325 or speech recognition module2327 of or within the audio input device 2325. In one illustrativeconfiguration, the user interface (28, 60, 2300) or audio input device2325 remains ready for an operator command (e.g., spoken or verbaloperator command) for a wake period or ready state of a predeterminedduration or user-definable duration (e.g., 30 seconds or one minute).After the human operator speaks the wake word or wake command to theuser interface (28, 60, 2300), audio input device 2325 or speechrecognition module 2327, the operator can provide a subsequent command(e.g., spoken or verbal command).

For example, as set forth in FIG. 5, the wake word of human speech is“Johnny” and the illustrative subsequent command is “Tell me the nextfour passes.” In some embodiments, the speech recognition module 2327,audio input device, user interface (28, 60, 2300) or data processingsystem (11, 2000) is able to use context or other information to reducethe need for every human line to start with the wake word. In FIG. 5,the leftmost column shows reference line numbers 5100 through 5800,where some reference numbers refer to human speech and other referencenumbers refer to machine speech or machine feedback. For example, themiddle column shows human speech (lines 5100 and 5600). The right columnshows machine speech or machine feedback (e.g., of the combine, machineor other vehicle), which may be responsive to the human speech in themiddle column. For instance, the right column shows machine speechassociated with respective reference number lines 5200 through 5500,inclusive, and 5700 through 5800, inclusive. In reference lines 5200through 5500, user interface (28, 60, 2300) or data processing system(11, 2000), or audio output device (2320) communicates the passidentifier, the transition point distance to start of the passassociated with the pass identifier, and the estimated yield per acrewithin the pass associated with the pass identifier. For example, passidentifier 8 has a transition point distance of 10 feet and an estimatedyield of 136 bushels per acre for pass identifier 8; pass identifier 9has a transition point distance of 39 feet and an estimated yield of 142bushels per acre for pass identifier 9; pass identifier 10 has atransition point distance of 68 feet and an estimated yield of 138bushels per acre for pass identifier 10; pass identifier 11 has atransition point distance of 97 feet and an estimated yield of 133bushels per acre for pass identifier 11.

The example of FIG. 6 is similar to the example of FIG. 5, except FIG. 6shows another example of audio dialogue between the human operator andthe user interface (28, 60, 2300) of the machine (e.g., combine orharvester). In FIG. 6, the leftmost column shows reference line numbers6100 through 6800, where some reference numbers refer to human speechand other reference numbers refer to machine speech or machine feedback.For example, the middle column shows human speech (lines 6100, 6200,6500 and 6600). At lines 6150, 6300, 6400, 6700, and 6800, the rightcolumn shows machine speech or machine feedback (e.g., of the combine,machine or other vehicle), which may be responsive to the human speechin the middle column.

Here, in line 6100, after the wake word, “Johnny,” the operator givesthe following human speech command, “Set pass order to least remaininggrain tank space,” to sequence the order in which audio data isoutputted or presented to the operator based on passes with the leastharvested material (e.g., bushels of harvested material) because oflimited remaining space in grain tank or storage container for storingharvested material associated with the vehicle (e.g., combine orharvester). In line 6150, user interface (28, 60, 2300) or audio outputdevice 2320 responds with machine speech output, such as “okay,” “OK”,“yes”, “affirmative,” or similar audio output acknowledgement.)

In line 6200, the operator issues the verbal command, “Johnny, tell mepasses not filling (overfilling) grain tank,” to the user interface (28,60, 2300). In response, the user interface (28, 60, 2300) responds atreference number lines 6200 through 6400. In reference lines 6200through 6400, user interface (28, 60, 2300) or data processing system(11, 2000), or audio output device (2320) communicates the passidentifier, the transition point distance to start of the passassociated with the pass identifier, and the estimated yield per acrewithin the pass associated with the pass identifier. For example, passidentifier 3 has a transition point distance of 64 feet and an estimatedyield of 27 bushels per acre for pass identifier 3; pass identifier 9has a transition point distance of 42 feet and an estimated yield of 64bushels per acre for pass identifier 9.

In line 6500, after hearing pass identifier 3 and pass identifier 9 inreference lines 6300 and 6400, respectively, in reference line 6500 theoperator has heard enough options and stops recitation of the list bystating “Johnny, stop.” At reference line, 6550, the user interface (28,60, 2300) stops reciting and optionally acknowledges “stop confirmed.”

In line 6600, via the user interface (28, 60, 2300), the operator issuesa speech command to set the next preferential pass to candidate pass 3which is associated with the lowest yield of harvested material for thecandidate pass. In line 6700, the user interface (28, 60, 2300)acknowledges that the preferential pass or “next pass is set to 3.”Further, in line 6800, the user interface (28, 60, 2300) acknowledgesthat the preferential pass has a vehicle guidance system 2400 engaged,such as auto-steering or guidance provided by a secondlocation-determining receiver 62 that controls a steering actuator forsteering or directing the heading or yaw angle of the second vehicle.

In the human-machine audio dialog of FIG. 5 and FIG. 6, there are somegeneral or common features as noted in the method of FIG. 7. The methodof FIG. 7 begins in step 7100.

In step 7100, via the user interface (28, 60, 2300), the speechrecognition module 2327, or the audio input device 2325, the humanoperator requests pass information, such as candidate pass informationor a ranking of potential candidate passes 2124. For example, in FIG. 5,the operator requested pass information in line 5100, whereas in FIG. 6the operator requested pass information in line 6200.

In step 7200, via the user interface (28, 60, 2300) or the audio outputdevice 2320, the data processing system 11 on the machine recites therequested information, on candidate passes 2124 or next passes of thevehicle, as requested in step 7100. For example, in FIG. 5, the userinterface (28, 60, 2300) or audio output device 2320 recited informationon lines 5200 through 5500, inclusive; in FIG. 6, the user interface(28, 60, 2300) or audio output device 2320 recites information on lines6300 through 6400, inclusive.

In step 7300, via the user interface (28, 60, 2300) the speechrecognition module 2327, or the audio input device 2325, the humanoperator inputs or issues a command for action based on the informationrecited or provided by the user interface (28, 60, 2300) or audio outputdevice 2320 in step 7200. In one example, in line 5600 of FIG. 5, theoperator issues a command based on the recited information, such as acommand to select or establish a preferential pass or next pass based onone or more previously recited candidate passes 2124 by the machine.Similarly, in FIG. 6 in line 6600, the operator issued a command toselect or set the preferential pass or next pass from the set or libraryof candidate passes 2124 provided by the user interface (28, 60, 2300)in steps 6300 through 6400, inclusive.

In step 7400, the user interface (28, 60, 2300) or audio output device2320 provides an acknowledgement of the command entered, spoken or inputby the human operator into the user interface (28, 60 2300) or audioinput device 2320 of the data processing system (11, 2000). For example,in FIG. 5, the user interface (28, 60, 2300) provides theacknowledgement set forth in lines 5700 through 5800, inclusive; whereasin FIG. 6 the user interface (28, 60, 2300) provides the acknowledgementset forth in lines 6700 through 6800, inclusive. In some illustrativeconfigurations, acknowledgements may take one of several forms withoutlimitation: (a) complete or execute the user-requested action orcommand, verbally acknowledge success or failure; (b) verballyacknowledge processing the speech, complete or execute the action; and(c) verbally acknowledge processing the speech, do the action,acknowledge success or failure of the action.

FIG. 8 depicts a method for formatting speech output by a human operatorconsistent with a specification or defined format. The method of FIG. 8begins in step 8100.

In step 8100, via the user interface (28, 60, 2300) the speechrecognition module 2327, or the audio input device 2325, the humanoperator requests configuration of the format (e.g., sequence, order orstructure) of requested information. For example, in FIG. 6 at line6100, the human operator provides a search limiter or “sort by” criteriafor a list, set or library of candidate passes 2124. In another example,the human operator may provide or specify an automatic or on-demandreport out. In the former case, without limitation, automated reportsmay be based on a time, location, or operational condition.

In step 8200, via the user interface (28, 60, 2300) or audio outputdevice 2320, the human operator provides a confirmation of the selectedformat, default format or accepted format. For example, rather thanasking for information at the end of each pass, as a default format theinformation or next passes or candidate passes 2124 are presented at aspecified distance or at specified time (e.g., after the lapse of auser-definable timer or user-definable alarm provided, such as audiblyor verbally, via the user interface) from the end of the pass.

Having described the preferred embodiment, it will become apparent thatvarious modifications can be made without departing from the scope ofthe invention as defined in the accompanying claims.

1. A method of planning a path of a vehicle, the method comprising:defining or obtaining an outer boundary of a work area or a field;obtaining an implement path plan of an implement associated with a firstvehicle, the implement path plan comprising a series of recordedposition points along a recorded guidance path of an implement and a setof plant rows defined with reference to the recorded guidance path inthe work area or the field; determining a present position and presentheading of a second vehicle in the work area or the field; determiningcandidate passes of the second vehicle in alignment with the definedplant rows to provide area coverage of the work area or field within thedefined boundary based on an implement width or swath of the secondvehicle and row spacing of the second vehicle, wherein the defined plantrows are associated with one or more candidate passes and consistentwith a planned guidance path to avoid damage to the plant rows; from thepresent position and heading, displaying the determined candidate passesto minimize overlap of adjacent candidate passes of the second vehicleand to minimize total number of passes within the work area or field;supporting selection of one of the displayed or presented candidatepasses as the planned guidance path of the second vehicle consistentwith the provision of area coverage of the work area or field; andproviding, via an electronic display or an audio output device inconjunction with the selection by a vehicle operator, an efficiencyindicator for the candidate passes based on estimated yield of theminimized unharvested zone within the field or work area, where theselection can be made verbally by the vehicle operator.
 2. A methodaccording to claim 1 further comprising: identifying a transition pointaligned with the present position and present heading, where thetransition point is suitable for selection of a next candidate pass froma library of determined candidate passes.
 3. The method according toclaim 1 wherein the selection is presented to the vehicle operator on auser interface that comprises an electronic display with a visualdisplay of a library of determined candidate passes with associatedcorresponding crop.
 4. The method according to claim 1 wherein theselection is selected by speech recognition of a pass identifier spokenby the vehicle operator.
 5. The method according to claim 3 whereinconfirmation of the selection is confirmed via haptic interfaceassociated with a steering column or a seat of the vehicle to indicate adefault selection or that the vehicle operator has opted out a defaultselection of the candidate pass.
 6. The method according to claim 1wherein the obtaining comprises accessing the first path plan of theimplement defined by actual passes in the work area or the field duringa planting operation; wherein the recorded position points compriseGlobal Navigation Satellite System (GNSS) coordinates.
 7. (canceled) 8.The method according to claim 1 further comprising: providing anefficiency indicator for the candidate passes based on the ratio ofestimated unharvested zone yield to estimated harvested yield for thefield, or defined section of the field, within the defined boundary. 9.The method according to claim 1 further comprising: communicatingwirelessly the candidate passes that are selected by the vehicleoperator to other vehicles that are working in the field or work area tocoordinate area coverage.
 10. The method according to claim 1 furthercomprising: communicating simultaneously the candidate passes tomultiple second vehicles working the field, such that any second vehiclecan exercise a prior claim to a next candidate pass or candidate passesprior to the other second vehicles without interference or collisionfrom other vehicles working the field.
 11. A system of planning a pathof a vehicle, the system comprising: a data processor defining orobtaining an outer boundary of a work area or a field; a data processorobtaining an implement path plan of an implement associated with a firstvehicle, the implement path plan comprising a series of recordedposition points along a recorded guidance path of an implement and a setof plant rows defined with reference to the recorded guidance path inthe work area or the field; a location-determining receiver to determinea present position and present heading of a second vehicle in the workarea or the field; a data processor for determining candidate passes ofthe second vehicle in alignment with the defined plant rows to providearea coverage of the work area or field within the defined boundarybased on an implement width or swath of the second vehicle and rowspacing of the second vehicle, wherein the defined plant rows areassociated with one or more candidate passes and consistent with aplanned guidance path to avoid damage to the plant rows; from thepresent position and heading, a user interface for displaying thedetermined candidate passes to minimize overlap of adjacent candidatepasses of the second vehicle and to minimize a total number of passeswithin the work area or field; and the user interface configured tosupport selection of one of the displayed or presented candidate passesas the planned guidance path of the second vehicle consistent with theprovision of area coverage of the work area or field, the user interfacecomprising an electronic display or an audio output device configured toprovide, in conjunction with the selection by a vehicle operator, anefficiency indicator for the candidate passes based on estimated yieldof the minimized unharvested zone within the field or work area, wherethe selection can be made verbally by the vehicle operator.
 12. Thesystem according to claim 11 further comprising: the data processoradapted to identify a transition point aligned with the present positionand present heading, where the transition point is suitable forselection of a next candidate pass from a library of determinedcandidate passes.
 13. The system according to claim 11 wherein theselection is presented to the vehicle operator on the user interfacewith a visual display as a library of determined candidate passes withassociated corresponding crop.
 14. The system according to claim 11wherein the selection is selected by speech recognition of a passidentifier spoken by the vehicle operator.
 15. The system according toclaim 11 further comprising confirmation of the selection is confirmedvia machine speech or haptic interface associated with a steering columnor a seat of the vehicle to indicate a default selection or that thevehicle operator has opted out a default selection of the candidatepass.
 16. The system according to claim 11 wherein the obtainingcomprises accessing the first path plan of the implement defined byactual passes in the work area or the field during a planting operation;wherein the recorded position points comprise Global NavigationSatellite System (GNSS) coordinates.
 17. (canceled)
 18. The systemaccording to claim 11 further comprising: the user interface configuredto provide an efficiency indicator for the candidate passes based on theratio of estimated unharvested zone yield to estimated harvested yieldfor the field, or defined section of the field, within the definedboundary.
 19. The system according to claim 11 further comprising: awireless communications device to communicate wirelessly the candidatepasses that are selected by the vehicle operator to other vehicles thatare working in the field or work area to coordinate area coverage. 20.The system according to claim 11 further comprising: a wirelesscommunications device to communicate simultaneously the candidate passesto multiple second vehicles working the field, such that any secondvehicle can exercise a prior claim to a next candidate pass or candidatepasses prior to the other second vehicles without interference orcollision from other vehicles working the field.
 21. The methodaccording to claim 1 wherein the efficiency indicator is audibly orverbally presented in order of sequence of ascending or descending scoreor numerical rank to support a spoken or verbal operator command as theselection.
 22. The method according to claim 1 wherein the efficiencyindicator is presented in order of sequence of ascending or descendingscore or numerical rank to support a selection by gesture or screeninput of the operator via the electronic display.